A61B 34/77
Manipulators with motion or force scaling
Official title: {Manipulators with motion or force scaling}
A61B34/77 (Manipulators with motion or force scaling) appears on 578 US grants and 774 published applications in this corpus.
Search patents in A61B- Granted patents
- 578
- Published applications
- 774
- Assignees
- 173
- Inventors
- 854
- Latest grant
- 22 Sep 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1986 | 1 | 0 |
| 1987 | 0 | 0 |
| 1988 | 0 | 0 |
| 1989 | 0 | 0 |
| 1990 | 0 | 0 |
| 1991 | 0 | 0 |
| 1992 | 0 | 0 |
| 1993 | 0 | 0 |
| 1994 | 0 | 0 |
| 1995 | 1 | 0 |
| 1996 | 0 | 0 |
| 1997 | 0 | 0 |
| 1998 | 8 | 0 |
| 1999 | 6 | 0 |
| 2000 | 3 | 0 |
| 2001 | 4 | 1 |
| 2002 | 6 | 15 |
| 2003 | 1 | 28 |
| 2004 | 13 | 12 |
| 2005 | 11 | 15 |
| 2006 | 15 | 12 |
| 2007 | 7 | 19 |
| 2008 | 5 | 20 |
| 2009 | 4 | 12 |
| 2010 | 15 | 23 |
| 2011 | 20 | 20 |
| 2012 | 6 | 15 |
| 2013 | 17 | 30 |
| 2014 | 17 | 19 |
| 2015 | 18 | 20 |
| 2016 | 35 | 20 |
| 2017 | 35 | 41 |
| 2018 | 21 | 37 |
| 2019 | 32 | 54 |
| 2020 | 31 | 55 |
| 2021 | 40 | 52 |
| 2022 | 33 | 46 |
| 2023 | 42 | 55 |
| 2024 | 48 | 54 |
| 2025 | 47 | 69 |
| 2026 | 36 | 30 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Recent patents
- Systems and methods for adaptive input mapping22 Sep 2026US 12,740,843 B2Intuitive Surgical Operations, Inc.
- Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site15 Sep 2026US 12,733,998 B2MAKO Surgical Corp.
- Control and feedback based on insertion force8 Sep 2026US 12,727,957 B2Intuitive Surgical Operations, Inc.
- Robotic surgical system, operation apparatus and robotic-surgical-system control method1 Sep 2026US 12,722,305 B2Kawasaki Jukogyo Kabushiki Kaisha
- Closure joint engagement for surgical tool25 Aug 2026US 12,714,528 B2Auris Health, Inc.
- Uniform scaling of haptic actuators24 Sep 2026US 2026/0283731 A1Intuitive Surgical Operations, Inc.
- Surgical robotic system and method for changing alert behavior based on surgeon experience10 Sep 2026US 2026/0263178 A1Covidien LP
- Robotic surgical system with floating patient mount20 Aug 2026US 2026/0240617 A1Mazor Robotics Ltd.
- Imaging device control via multiple input modalities20 Aug 2026US 2026/0240619 A1Intuitive Surgical Operations, Inc.
- Staged force feedback transitioning between control states6 Aug 2026US 2026/0224321 A1Intuitive Surgical Operations, Inc.
Most cited
By later US patents
- Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity3,169US 5,792,135 AIntuitive Surgical, Inc. · 1998
- Method and apparatus for performing minimally invasive surgical procedures2,609US 6,436,107 B1Computer Motion, Inc. · 2002
- Method and apparatus for performing minimally invasive cardiac procedures2,567US 5,855,583 AComputer Motion, Inc. · 1999
- Robotic apparatus2,381US 6,786,896 B1Massachusetts Institute of Technology · 2004
- Method and apparatus for performing minimally invasive surgical procedures2,120US 6,063,095 AComputer Motion, Inc. · 2000